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SAMV7: CAN Message Filtering fixed

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- Bugfix: stdfilters didn't work because the filter was never enabled (wrong number of bits to shift)
 - Bugfix: Filters were never used because the configuration register cannot be written without using the initialization mode

Both bugs are fixed by this patch. Filtering has been tested with both standard and extended identifiers and is now working properly.
This commit is contained in:
Michael Spahlinger 2016-06-29 08:48:11 -06:00 committed by Gregory Nutt
parent 6aa067e929
commit 329c760f17
2 changed files with 90 additions and 1 deletions
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2
arch/arm/src/samv7/chip/sam_mcan.h
View File

@ -747,7 +747,7 @@
#define STDFILTER_S0_SFID1_SHIFT (16) /* Bits 16-26: Standard Filter ID 2 */
#define STDFILTER_S0_SFID1_MASK (0x3ff << STDFILTER_S0_SFID1_SHIFT)
# define STDFILTER_S0_SFID1(n) ((uint32_t)(n) << STDFILTER_S0_SFID1_SHIFT)
#define STDFILTER_S0_SFEC_SHIFT (17) /* Bits 27-29: Standard Filter Element Configuration */
#define STDFILTER_S0_SFEC_SHIFT (27) /* Bits 27-29: Standard Filter Element Configuration */
#define STDFILTER_S0_SFEC_MASK (7 << STDFILTER_S0_SFEC_SHIFT)
# define STDFILTER_S0_SFEC_DISABLE (0 << STDFILTER_S0_SFEC_SHIFT) /* Disable filter element */
# define STDFILTER_S0_SFEC_FIFO0 (1 << STDFILTER_S0_SFEC_SHIFT) /* Store in Rx FIFO 0 on match */

89
arch/arm/src/samv7/sam_mcan.c
View File

@ -802,6 +802,7 @@
/****************************************************************************
* Private Types
****************************************************************************/
/* CAN mode of operation */
enum sam_canmode_e
@ -1833,6 +1834,22 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv,
if (priv->nextalloc == 1)
{
/* Enable the Initialization state */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= MCAN_CCCR_INIT;
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Wait for initialization mode to take effect */
while ((mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET) & MCAN_CCCR_INIT) == 0);
/* Enable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= (MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Update the Global Filter Configuration so that received
* messages are rejected if they do not match the acceptance
* filter.
@ -1844,6 +1861,12 @@ static int mcan_add_extfilter(FAR struct sam_mcan_s *priv,
regval &= ~MCAN_GFC_ANFE_MASK;
regval |= MCAN_GFC_ANFE_REJECTED;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
/* Disable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval &= ~(MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
}
mcan_dev_unlock(priv);
@ -1903,6 +1926,22 @@ static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx)
if (priv->nextalloc == 0)
{
/* Enable the Initialization state */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= MCAN_CCCR_INIT;
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Wait for initialization mode to take effect */
while ((mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET) & MCAN_CCCR_INIT) == 0);
/* Enable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= (MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* If there are no extended filters, then modify Global Filter
* Configuration so that all rejected messages are places in RX
* FIFO0.
@ -1914,6 +1953,12 @@ static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx)
regval &= ~MCAN_GFC_ANFE_MASK;
regval |= MCAN_GFC_ANFE_RX_FIFO0;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
/* Disable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval &= ~(MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
}
/* Deactivate the filter last so that no messages are lost. */
@ -2021,6 +2066,22 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv,
if (priv->nstdalloc == 1)
{
/* Enable the Initialization state */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= MCAN_CCCR_INIT;
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Wait for initialization mode to take effect */
while ((mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET) & MCAN_CCCR_INIT) == 0);
/* Enable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= (MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Update the Global Filter Configuration so that received
* messages are rejected if they do not match the acceptance
* filter.
@ -2032,6 +2093,12 @@ static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv,
regval &= ~MCAN_GFC_ANFS_MASK;
regval |= MCAN_GFC_ANFS_REJECTED;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
/* Disable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval &= ~(MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
}
mcan_dev_unlock(priv);
@ -2089,6 +2156,22 @@ static int mcan_del_stdfilter(FAR struct sam_mcan_s *priv, int ndx)
if (priv->nstdalloc == 0)
{
/* Enable the Initialization state */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= MCAN_CCCR_INIT;
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Wait for initialization mode to take effect */
while ((mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET) & MCAN_CCCR_INIT) == 0);
/* Enable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= (MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* If there are no standard filters, then modify Global Filter
* Configuration so that all rejected messages are places in RX
* FIFO0.
@ -2100,6 +2183,12 @@ static int mcan_del_stdfilter(FAR struct sam_mcan_s *priv, int ndx)
regval &= ~MCAN_GFC_ANFS_MASK;
regval |= MCAN_GFC_ANFS_RX_FIFO0;
mcan_putreg(priv, SAM_MCAN_GFC_OFFSET, regval);
/* Disable writing to configuration registers */
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval &= ~(MCAN_CCCR_INIT | MCAN_CCCR_CCE);
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
}
/* Deactivate the filter last so that no messages are lost. */